.. _program_listing_file_include_moveit_occupancy_map_monitor_occupancy_map_updater.h:

Program Listing for File occupancy_map_updater.h
================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_occupancy_map_monitor_occupancy_map_updater.h>` (``include/moveit/occupancy_map_monitor/occupancy_map_updater.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan, Jon Binney */
   
   #pragma once
   
   #include <moveit/macros/class_forward.h>
   #include <moveit/collision_detection/occupancy_map.h>
   
   #include <geometric_shapes/shapes.h>
   #include <rclcpp/rclcpp.hpp>
   
   #include <Eigen/Core>
   #include <Eigen/Geometry>
   
   #include <map>
   #include <string>
   #include <functional>
   
   namespace occupancy_map_monitor
   {
   using ShapeHandle = unsigned int;
   using ShapeTransformCache = std::map<ShapeHandle, Eigen::Isometry3d, std::less<ShapeHandle>,
                                        Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Isometry3d> > >;
   using TransformCacheProvider = std::function<bool(const std::string&, const rclcpp::Time&, ShapeTransformCache&)>;
   
   class OccupancyMapMonitor;
   
   MOVEIT_CLASS_FORWARD(OccupancyMapUpdater);  // Defines OccupancyMapUpdaterPtr, ConstPtr, WeakPtr... etc
   
   class OccupancyMapUpdater
   {
   public:
     OccupancyMapUpdater(const std::string& type);
     virtual ~OccupancyMapUpdater();
   
     void setMonitor(OccupancyMapMonitor* monitor);
   
     virtual bool setParams(const std::string& name_space) = 0;
   
     virtual bool initialize(const rclcpp::Node::SharedPtr& node) = 0;
   
     virtual void start() = 0;
   
     virtual void stop() = 0;
   
     virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape) = 0;
   
     virtual void forgetShape(ShapeHandle handle) = 0;
   
     const std::string& getType() const
     {
       return type_;
     }
   
     void setTransformCacheCallback(const TransformCacheProvider& transform_callback)
     {
       transform_provider_callback_ = transform_callback;
     }
   
     void publishDebugInformation(bool flag)
     {
       debug_info_ = flag;
     }
   
   protected:
     OccupancyMapMonitor* monitor_;
     std::string type_;
     collision_detection::OccMapTreePtr tree_;
     TransformCacheProvider transform_provider_callback_;
     ShapeTransformCache transform_cache_;
     bool debug_info_;
   
     bool updateTransformCache(const std::string& target_frame, const rclcpp::Time& target_time);
   
     // TODO rework this function
     // static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value);
     // static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value);
   };
   }  // namespace occupancy_map_monitor